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<title>Doxygen: pcl::visualization::PointCloudGeometryHandlerXYZ&lt; PointT &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::visualization::PointCloudGeometryHandlerXYZ&lt; PointT &gt; 模板类 参考</div>  </div>
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<p>XYZ handler class for <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> geometry. Given an input dataset, all XYZ data present in fields "x", "y", and "z" is extracted and displayed on screen.  
 <a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="point__cloud__geometry__handlers_8h_source.html">point_cloud_geometry_handlers.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::visualization::PointCloudGeometryHandlerXYZ&lt; PointT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.png" usemap="#pcl::visualization::PointCloudGeometryHandlerXYZ_3C_20PointT_20_3E_map" alt=""/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a4ca166c9a64ecc0a7ae0b5798557f8b6"><td class="memItemLeft" align="right" valign="top"><a id="a4ca166c9a64ecc0a7ae0b5798557f8b6"></a>
typedef <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html">PointCloudGeometryHandlerXYZ</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html">PointCloudGeometryHandlerXYZ</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1visualization_1_1_point_cloud_geometry_handler')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">pcl::visualization::PointCloudGeometryHandler&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a53d298848b117cfbce27b180681c0513 inherit pub_types_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="a53d298848b117cfbce27b180681c0513"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">PointCloudGeometryHandler</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a5c53aff0964f0ef9cc9cc6235b532573"><td class="memItemLeft" align="right" valign="top"><a id="a5c53aff0964f0ef9cc9cc6235b532573"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a5c53aff0964f0ef9cc9cc6235b532573">PointCloudGeometryHandlerXYZ</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a5c53aff0964f0ef9cc9cc6235b532573"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:a1a5dc566e27cfd2f34f1751d2fc677c2"><td class="memItemLeft" align="right" valign="top"><a id="a1a5dc566e27cfd2f34f1751d2fc677c2"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a1a5dc566e27cfd2f34f1751d2fc677c2">~PointCloudGeometryHandlerXYZ</a> ()</td></tr>
<tr class="memdesc:a1a5dc566e27cfd2f34f1751d2fc677c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:af8cb5ff27bb767ac53afc3d43a8fa8cc"><td class="memItemLeft" align="right" valign="top"><a id="af8cb5ff27bb767ac53afc3d43a8fa8cc"></a>
virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#af8cb5ff27bb767ac53afc3d43a8fa8cc">getName</a> () const</td></tr>
<tr class="memdesc:af8cb5ff27bb767ac53afc3d43a8fa8cc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class getName method. <br /></td></tr>
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virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#ad75f67e5ba4a4b0d2bab1f89ba51e69f">getFieldName</a> () const</td></tr>
<tr class="memdesc:ad75f67e5ba4a4b0d2bab1f89ba51e69f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the name of the field used. <br /></td></tr>
<tr class="separator:ad75f67e5ba4a4b0d2bab1f89ba51e69f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a18b82e56c7a39f8492f6bbece2f48275"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a18b82e56c7a39f8492f6bbece2f48275">getGeometry</a> (<a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkPoints &gt; &amp;points) const</td></tr>
<tr class="memdesc:a18b82e56c7a39f8492f6bbece2f48275"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the actual point geometry for the input dataset in VTK format.  <a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html#a18b82e56c7a39f8492f6bbece2f48275">更多...</a><br /></td></tr>
<tr class="separator:a18b82e56c7a39f8492f6bbece2f48275"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">pcl::visualization::PointCloudGeometryHandler&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a4e193587717fb1be010198538691b2ab inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="a4e193587717fb1be010198538691b2ab"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a4e193587717fb1be010198538691b2ab">PointCloudGeometryHandler</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a4e193587717fb1be010198538691b2ab inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a4e193587717fb1be010198538691b2ab inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a482aed794a4a40d98fd244c3aaebc23c inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="a482aed794a4a40d98fd244c3aaebc23c"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a482aed794a4a40d98fd244c3aaebc23c">~PointCloudGeometryHandler</a> ()</td></tr>
<tr class="memdesc:a482aed794a4a40d98fd244c3aaebc23c inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a34cd0256912c4365b55ca95237963ba7 inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="a34cd0256912c4365b55ca95237963ba7"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a34cd0256912c4365b55ca95237963ba7">isCapable</a> () const</td></tr>
<tr class="memdesc:a34cd0256912c4365b55ca95237963ba7 inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checl if this handler is capable of handling the input data or not. <br /></td></tr>
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<tr class="memitem:a8225044aa7a22d013c4ab6e226760f73 inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a8225044aa7a22d013c4ab6e226760f73">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a8225044aa7a22d013c4ab6e226760f73 inherit pub_methods_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the input cloud to be used.  <a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a8225044aa7a22d013c4ab6e226760f73">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html">pcl::visualization::PointCloudGeometryHandler&lt; PointT &gt;</a></td></tr>
<tr class="memitem:aa1dfb76be57ebd6d4b325cdfde5c2e52 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="aa1dfb76be57ebd6d4b325cdfde5c2e52"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a></td></tr>
<tr class="memdesc:aa1dfb76be57ebd6d4b325cdfde5c2e52 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the input dataset. <br /></td></tr>
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<tr class="memitem:a5fa6fe584ff47d57f40bb99154744afe inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="a5fa6fe584ff47d57f40bb99154744afe"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a5fa6fe584ff47d57f40bb99154744afe">capable_</a></td></tr>
<tr class="memdesc:a5fa6fe584ff47d57f40bb99154744afe inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">True if this handler is capable of handling the input data, false otherwise. <br /></td></tr>
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<tr class="memitem:a3e80877586c2160810e4c4ce3e32f8f2 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="a3e80877586c2160810e4c4ce3e32f8f2"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a3e80877586c2160810e4c4ce3e32f8f2">field_x_idx_</a></td></tr>
<tr class="memdesc:a3e80877586c2160810e4c4ce3e32f8f2 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">The index of the field holding the X data. <br /></td></tr>
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<tr class="memitem:a85ac6476f006cde64c07a9ab95604f65 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="a85ac6476f006cde64c07a9ab95604f65"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a85ac6476f006cde64c07a9ab95604f65">field_y_idx_</a></td></tr>
<tr class="memdesc:a85ac6476f006cde64c07a9ab95604f65 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">The index of the field holding the Y data. <br /></td></tr>
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<tr class="memitem:ae2f7766e4f7bbdba03b4e13c5909dc29 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="ae2f7766e4f7bbdba03b4e13c5909dc29"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#ae2f7766e4f7bbdba03b4e13c5909dc29">field_z_idx_</a></td></tr>
<tr class="memdesc:ae2f7766e4f7bbdba03b4e13c5909dc29 inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">The index of the field holding the Z data. <br /></td></tr>
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<tr class="memitem:a1ae447a3078ddcfdd92429a26227f0fa inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memItemLeft" align="right" valign="top"><a id="a1ae447a3078ddcfdd92429a26227f0fa"></a>
std::vector&lt; <a class="el" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a1ae447a3078ddcfdd92429a26227f0fa">fields_</a></td></tr>
<tr class="memdesc:a1ae447a3078ddcfdd92429a26227f0fa inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="mdescLeft">&#160;</td><td class="mdescRight">The list of fields available for this <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
<tr class="separator:a1ae447a3078ddcfdd92429a26227f0fa inherit pro_attribs_classpcl_1_1visualization_1_1_point_cloud_geometry_handler"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::visualization::PointCloudGeometryHandlerXYZ&lt; PointT &gt;</h3>

<p>XYZ handler class for <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> geometry. Given an input dataset, all XYZ data present in fields "x", "y", and "z" is extracted and displayed on screen. </p>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a18b82e56c7a39f8492f6bbece2f48275"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a18b82e56c7a39f8492f6bbece2f48275">&#9670;&nbsp;</a></span>getGeometry()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler_x_y_z.html">pcl::visualization::PointCloudGeometryHandlerXYZ</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getGeometry </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classvtk_smart_pointer.html">vtkSmartPointer</a>&lt; vtkPoints &gt; &amp;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const</td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>Obtain the actual point geometry for the input dataset in VTK format. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">points</td><td>the resultant geometry </td></tr>
  </table>
  </dd>
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<p>实现了 <a class="el" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aae103bd083273e1826b51743e6ae8123">pcl::visualization::PointCloudGeometryHandler&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a5fa6fe584ff47d57f40bb99154744afe">capable_</a>)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (!points)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    points = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkPoints&gt;::New</a> ();</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  points-&gt;SetDataTypeToFloat ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;</a> data = <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkFloatArray&gt;::New</a> ();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  data-&gt;SetNumberOfComponents (3);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  vtkIdType nr_points = <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points.size ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// Add all points</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  vtkIdType j = 0;    <span class="comment">// true point index</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordtype">float</span>* pts = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (malloc (nr_points * 3 * <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>)));</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// If the dataset has no invalid values, just copy all of them</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;is_dense)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      pts[i * 3 + 0] = <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points[i].x;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      pts[i * 3 + 1] = <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points[i].y;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      pts[i * 3 + 2] = <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points[i].z;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    data-&gt;SetArray (&amp;pts[0], nr_points * 3, 0);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    points-&gt;SetData (data);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">// Need to check for NaNs, Infs, ec</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">for</span> (vtkIdType i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points[i].x) || !pcl_isfinite (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points[i].y) || !pcl_isfinite (<a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points[i].z))</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      pts[j * 3 + 0] = <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points[i].x;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      pts[j * 3 + 1] = <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points[i].y;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      pts[j * 3 + 2] = <a class="code" href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">cloud_</a>-&gt;points[i].z;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="comment">// Set j and increment</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      j++;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    data-&gt;SetArray (&amp;pts[0], j * 3, 0);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    points-&gt;SetData (data);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_a5fa6fe584ff47d57f40bb99154744afe"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#a5fa6fe584ff47d57f40bb99154744afe">pcl::visualization::PointCloudGeometryHandler::capable_</a></div><div class="ttdeci">bool capable_</div><div class="ttdoc">True if this handler is capable of handling the input data, false otherwise.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_point_cloud_geometry_handler_html_aa1dfb76be57ebd6d4b325cdfde5c2e52"><div class="ttname"><a href="classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html#aa1dfb76be57ebd6d4b325cdfde5c2e52">pcl::visualization::PointCloudGeometryHandler::cloud_</a></div><div class="ttdeci">PointCloudConstPtr cloud_</div><div class="ttdoc">A pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> point_cloud_geometry_handlers.h:112</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer</a></div><div class="ttdef"><b>Definition:</b> actor_map.h:50</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>visualization/include/pcl/visualization/<a class="el" href="point__cloud__geometry__handlers_8h_source.html">point_cloud_geometry_handlers.h</a></li>
<li>visualization/include/pcl/visualization/impl/<a class="el" href="point__cloud__geometry__handlers_8hpp_source.html">point_cloud_geometry_handlers.hpp</a></li>
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